/*
 * Copyright (C) 2009 The Android Open Source Project
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package com.jingbit.ai.bt;

import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.UUID;

import android.annotation.SuppressLint;
import android.bluetooth.BluetoothAdapter;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothServerSocket;
import android.bluetooth.BluetoothSocket;
import android.content.Context;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import android.widget.Toast;

/**
 * This class does all the work for setting up and managing Bluetooth
 * connections with other devices. It has a thread that listens for
 * incoming connections, a thread for connecting with a device, and a
 * thread for performing data transmissions when connected.
 */
public class BluetoothService {
    // Debugging
    private static final String TAG = "jingbit";

    private static final boolean D = true;

    // Name for the SDP record when creating server socket
    private static final String NAME = "BluetoothActivity";

    // Unique UUID for this application
    private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");

    // Member fields
    private final BluetoothAdapter mAdapter;
    private AcceptThread mAcceptThread;
    private ConnectThread mConnectThread;
    private ConnectedThread mConnectedThread;
    private volatile int connectState;

    public static final String[] ANGLE_NS = {"jd1", "jd2", "jd3", "jd4", "jd5", "jd6"};
    public static final float[] ANGLE_VS = {90, 180, 135, 180, 180, 180};
    // Message types sent from the BluetoothService Handler
    public static final int MSG_STATE_CHANGE = 1;
    public static final int MSG_READ = 2;
    public static final int MSG_WRITE = 3;
    public static final int MSG_DEVICE_NAME = 4;
    public static final int MSG_TOAST = 5;

    // Constants that indicate the current connection state
    public static final int STATE_NONE = 0;       // we're doing nothing
    public static final int STATE_LISTEN = 1;     // now listening for incoming connections
    public static final int STATE_CONNECTING = 2; // now initiating an outgoing connection
    public static final int STATE_CONNECTED = 3;  // now connected to a remote device
    public static final byte MSG_START_SIGN = 0x7B;
    public static final byte MSG_END_SIGN = 0x7D;
    public static final byte MSG_PWM1_SIGN = 0x30;//舵机上下摆臂180°
    public static final byte MSG_PWM2_SIGN = 0x31;
    public static final byte MSG_PWM3_SIGN = 0x32;//舵机云台270°
    public static final byte MSG_PWM4_SIGN = 0x33;
    public static final byte MSG_PWM5_SIGN = 0x34;
    public static final byte MSG_PWM6_SIGN = 0x35;
    public static final byte MSG_PWM7_SIGN = 0x36;
    public static final byte MSG_PWM8_SIGN = 0x37;
    public static final byte MSG_INCR_SIGN = 0x58;//加速
    public static final byte MSG_DECR_SIGN = 0x59;//減速
    public static final byte MSG_RESET_SIGN = 0x61;//复位

    public static int MSG_PWM1_ANGLE = 90;//舵机上下摆臂180°
    public static final int MSG_PWM1_ANGLE_HALF = 90;//舵机上下摆臂180°
    public static int MSG_PWM2_ANGLE = 180;
    public static int MSG_PWM3_ANGLE = 135;//舵机云台270°
    public static final int MSG_PWM3_ANGLE_HALF = 135;//舵机云台270°
    public static int MSG_PWM4_ANGLE = 180;
    public static int MSG_PWM5_ANGLE = 180;
    public static int MSG_PWM6_ANGLE = 180;
    public static int MSG_PWM7_ANGLE = 180;
    public static int MSG_PWM8_ANGLE = 180;
    @SuppressLint("HandlerLeak")
    private final Handler mHandler = new Handler() {
        @Override
        public void handleMessage(Message msg) {
            if (callback!=null){
                callback.handleMessage(msg);
            }
            Log.i(TAG, "handleMessage: " + msg.what + "---" + msg.arg1);
            switch (msg.what) {
                case BluetoothService.MSG_STATE_CHANGE:
                    switch (msg.arg1) {
                        case BluetoothService.STATE_CONNECTED:
                            write(BluetoothService.MSG_RESET_SIGN,0);
                            break;
                        case BluetoothService.STATE_CONNECTING:
                            break;
                        case BluetoothService.STATE_LISTEN:
                        case BluetoothService.STATE_NONE:
                            break;
                    }
                    break;
                case BluetoothService.MSG_WRITE:
                    byte[] writeBuf = (byte[]) msg.obj;
                    // construct a string from the buffer
                    String writeMessage = new String(writeBuf);
                    break;
                case BluetoothService.MSG_READ:
                    byte[] readBuf = (byte[]) msg.obj;
                    // construct a string from the valid bytes in the buffer
                    String readMessage = new String(readBuf, 0, msg.arg1);
                    Log.d(TAG, "MSG_READ：" + readMessage);
                    if (readMessage.startsWith("jd")) {
                        try{
                            String[] strs = readMessage.split(":");
                            int index = BluetoothUtil.getAngleIndex(strs[0]);
                            int pwm = Integer.parseInt(strs[1]);
                            int angle = BluetoothUtil.pwmToAngle(pwm, BluetoothService.ANGLE_VS[index]);
                            Log.d(TAG, "MSG_READ1：" + pwm+ "---" + angle);
                            switch (index){
                                case 0:
                                    BluetoothService.MSG_PWM1_ANGLE=angle;
                                    break;
                                case 1:
                                    BluetoothService.MSG_PWM2_ANGLE=angle;
                                    break;
                                case 2:
                                    BluetoothService.MSG_PWM3_ANGLE=angle;
                                    break;
                                case 3:
                                    BluetoothService.MSG_PWM4_ANGLE=angle;
                                    break;
                                case 4:
                                    BluetoothService.MSG_PWM5_ANGLE=angle;
                                    break;
                                case 5:
                                    BluetoothService.MSG_PWM6_ANGLE=angle;
                                    break;
                            }
                        }
                        catch (Exception e){}
                    }
                    break;
                case BluetoothService.MSG_DEVICE_NAME:
                    // save the connected device's name
                    break;
                case BluetoothService.MSG_TOAST:
//                    Toast.makeText(context, (String) msg.obj, Toast.LENGTH_SHORT).show();
                    break;
            }
        }
    };

    private final Context context;
    private final Handler.Callback callback;
    /**
     * Constructor. Prepares a new BluetoothActivity session.
     *
     * @param context The UI Activity Context
     */
    public BluetoothService(Context context, Handler.Callback callback) {
        this.context=context;
        this.callback= callback;
        this.mAdapter = BluetoothAdapter.getDefaultAdapter();
        this.connectState = STATE_NONE;
    }

    /**
     * Set the current state of the chat connection
     *
     * @param state An integer defining the current connection state
     */
    private synchronized void setConnectState(int state) {
        if (D) Log.d(TAG, "setConnectState " + connectState + " -> " + state);
        connectState = state;

        // Give the new state to the Handler so the UI Activity can update
        mHandler.obtainMessage(MSG_STATE_CHANGE, state, -1).sendToTarget();
    }

    /**
     * Return the current connection state.
     */
    public synchronized int getConnectState() {
        return connectState;
    }

    /**
     * Start the chat service. Specifically start AcceptThread to begin a
     * session in listening (server) mode. Called by the Activity onResume()
     */
    public synchronized void start() {
        if (D) Log.d(TAG, "start");

        // Cancel any thread attempting to make a connection
        if (mConnectThread != null) {
            mConnectThread.cancel();
            mConnectThread = null;
        }

        // Cancel any thread currently running a connection
        if (mConnectedThread != null) {
            mConnectedThread.cancel();
            mConnectedThread = null;
        }

        // Start the thread to listen on a BluetoothServerSocket
        if (mAcceptThread == null) {
            mAcceptThread = new AcceptThread();
            mAcceptThread.start();
        }
        setConnectState(STATE_LISTEN);
    }

    /**
     * Start the ConnectThread to initiate a connection to a remote device.
     *
     * @param device The BluetoothDevice to connect
     */
    public synchronized void connect(BluetoothDevice device) {
        if (D) Log.d(TAG, "connect to: " + device);

        // Cancel any thread attempting to make a connection
        if (connectState == STATE_CONNECTING) {
            if (mConnectThread != null) {
                mConnectThread.cancel();
                mConnectThread = null;
            }
        }

        // Cancel any thread currently running a connection
        if (mConnectedThread != null) {
            mConnectedThread.cancel();
            mConnectedThread = null;
        }

        // Start the thread to connect with the given device
        mConnectThread = new ConnectThread(device);
        mConnectThread.start();
        setConnectState(STATE_CONNECTING);
    }

    /**
     * Start the ConnectedThread to begin managing a Bluetooth connection
     *
     * @param socket The BluetoothSocket on which the connection was made
     * @param device The BluetoothDevice that has been connected
     */
    public synchronized void connected(BluetoothSocket socket, BluetoothDevice device) {
        if (D) Log.d(TAG, "connected");

        // Cancel the thread that completed the connection
        if (mConnectThread != null) {
            mConnectThread.cancel();
            mConnectThread = null;
        }

        // Cancel any thread currently running a connection
        if (mConnectedThread != null) {
            mConnectedThread.cancel();
            mConnectedThread = null;
        }

        // Cancel the accept thread because we only want to connect to one device
        if (mAcceptThread != null) {
            mAcceptThread.cancel();
            mAcceptThread = null;
        }

        // Start the thread to manage the connection and perform transmissions
        mConnectedThread = new ConnectedThread(socket);
        mConnectedThread.start();

        // Send the name of the connected device back to the UI Activity
        Message msg = mHandler.obtainMessage(MSG_DEVICE_NAME);
        msg.obj = device.getName();
        mHandler.sendMessage(msg);
        setConnectState(STATE_CONNECTED);
    }

    /**
     * Stop all threads
     */
    public synchronized void stop() {
        if (D) Log.d(TAG, "stop");
        if (mConnectThread != null) {
            mConnectThread.cancel();
            mConnectThread = null;
        }
        if (mConnectedThread != null) {
            mConnectedThread.cancel();
            mConnectedThread = null;
        }
        if (mAcceptThread != null) {
            mAcceptThread.cancel();
            mAcceptThread = null;
        }
        setConnectState(STATE_NONE);
    }

    /**
     * Write to the ConnectedThread in an unsynchronized manner
     *
     * @param cmd   The bytes to write
     * @param angle The bytes to write
     * @see ConnectedThread#write(byte[])
     */
    public synchronized void write(byte cmd, int angle) {
        // Create temporary object
        ConnectedThread r;
        // Synchronize a copy of the ConnectedThread
        synchronized (this) {
            if (connectState != STATE_CONNECTED) return;
            r = mConnectedThread;
        }
        byte[] bs = new byte[8];
        bs[0] = MSG_START_SIGN;
        bs[1] = cmd;
        bs[2] = (byte) (angle > 0 ? 0 : 1);
        byte[] angles = BluetoothUtil.intToByteArray(angle);
        System.arraycopy(angles, 0, bs, 3, angles.length);
        bs[7] = MSG_END_SIGN;
        r.write(bs);
    }


    /**
     * Indicate that the connection attempt failed and notify the UI Activity.
     */
    private void connectionFailed() {
        setConnectState(STATE_LISTEN);

        // Send a failure message back to the Activity
        Message msg = mHandler.obtainMessage(MSG_TOAST);
        msg.obj = "Unable to connect device";
        mHandler.sendMessage(msg);
    }

    /**
     * Indicate that the connection was lost and notify the UI Activity.
     */
    private void connectionLost() {
        setConnectState(STATE_LISTEN);

        // Send a failure message back to the Activity
        Message msg = mHandler.obtainMessage(MSG_TOAST);
        msg.obj = "Device connection was lost";
        mHandler.sendMessage(msg);
    }

    /**
     * This thread runs while listening for incoming connections. It behaves
     * like a server-side client. It runs until a connection is accepted
     * (or until cancelled).
     */
    private class AcceptThread extends Thread {
        // The local server socket
        private final BluetoothServerSocket mmServerSocket;

        public AcceptThread() {
            BluetoothServerSocket tmp = null;

            // Create a new listening server socket
            try {
                tmp = mAdapter.listenUsingRfcommWithServiceRecord(NAME, MY_UUID);
            } catch (IOException e) {
                Log.e(TAG, "listen() failed", e);
            }
            mmServerSocket = tmp;
        }

        public void run() {
            if (D) Log.d(TAG, "BEGIN mAcceptThread" + this);
            setName("AcceptThread");
            BluetoothSocket socket = null;

            // Listen to the server socket if we're not connected
            while (connectState != STATE_CONNECTED) {
                try {
                    // This is a blocking call and will only return on a
                    // successful connection or an exception
                    socket = mmServerSocket.accept();
                } catch (IOException e) {
                    Log.e(TAG, "accept() failed", e);
                    break;
                }

                // If a connection was accepted
                if (socket != null) {
                    synchronized (BluetoothService.this) {
                        switch (connectState) {
                            case STATE_LISTEN:
                            case STATE_CONNECTING:
                                // Situation normal. Start the connected thread.
                                connected(socket, socket.getRemoteDevice());
                                break;
                            case STATE_NONE:
                            case STATE_CONNECTED:
                                // Either not ready or already connected. Terminate new socket.
                                try {
                                    socket.close();
                                } catch (IOException e) {
                                    Log.e(TAG, "Could not close unwanted socket", e);
                                }
                                break;
                        }
                    }
                }
            }
            if (D) Log.i(TAG, "END mAcceptThread");
        }

        public void cancel() {
            if (D) Log.d(TAG, "cancel " + this);
            try {
                mmServerSocket.close();
            } catch (IOException e) {
                Log.e(TAG, "close() of server failed", e);
            }
        }
    }


    /**
     * This thread runs while attempting to make an outgoing connection
     * with a device. It runs straight through; the connection either
     * succeeds or fails.
     */
    private class ConnectThread extends Thread {
        private final BluetoothSocket mmSocket;
        private final BluetoothDevice mmDevice;

        public ConnectThread(BluetoothDevice device) {
            mmDevice = device;
            BluetoothSocket tmp = null;

            // Get a BluetoothSocket for a connection with the
            // given BluetoothDevice
            try {
                tmp = device.createRfcommSocketToServiceRecord(MY_UUID);
            } catch (IOException e) {
                Log.e(TAG, "create() failed", e);
            }
            mmSocket = tmp;
        }

        public void run() {
            Log.i(TAG, "BEGIN mConnectThread");
            setName("ConnectThread");

            // Always cancel discovery because it will slow down a connection
            mAdapter.cancelDiscovery();

            // Make a connection to the BluetoothSocket
            try {
                // This is a blocking call and will only return on a
                // successful connection or an exception
                mmSocket.connect();
            } catch (IOException e) {
                connectionFailed();
                // Close the socket
                try {
                    mmSocket.close();
                } catch (IOException e2) {
                    Log.e(TAG, "unable to close() socket during connection failure", e2);
                }
                // Start the service over to restart listening mode
                BluetoothService.this.start();
                return;
            }

            // Reset the ConnectThread because we're done
            synchronized (BluetoothService.this) {
                mConnectThread = null;
            }

            // Start the connected thread
            connected(mmSocket, mmDevice);
        }

        public void cancel() {
            try {
                mmSocket.close();
            } catch (IOException e) {
                Log.e(TAG, "close() of connect socket failed", e);
            }
        }
    }

    /**
     * This thread runs during a connection with a remote device.
     * It handles all incoming and outgoing transmissions.
     */
    private class ConnectedThread extends Thread {
        private final BluetoothSocket mmSocket;
        private final InputStream mmInStream;
        private final OutputStream mmOutStream;

        public ConnectedThread(BluetoothSocket socket) {
            Log.d(TAG, "create ConnectedThread");
            mmSocket = socket;
            InputStream tmpIn = null;
            OutputStream tmpOut = null;

            // Get the BluetoothSocket input and output streams
            try {
                tmpIn = socket.getInputStream();
                tmpOut = socket.getOutputStream();
            } catch (IOException e) {
                Log.e(TAG, "temp sockets not created", e);
            }

            mmInStream = tmpIn;
            mmOutStream = tmpOut;
        }

        public void run() {
            Log.i(TAG, "BEGIN mConnectedThread");
            byte[] buffer = new byte[1024];
            int bytes;
            // Keep listening to the InputStream while connected
            while (true) {
                try {
                    // Read from the InputStream
                    bytes = mmInStream.read(buffer);

                    // Send the obtained bytes to the UI Activity
                    mHandler.obtainMessage(MSG_READ, bytes, -1, buffer)
                            .sendToTarget();
                } catch (IOException e) {
                    Log.e(TAG, "disconnected", e);
                    connectionLost();
                    break;
                }
            }
        }

        /**
         * Write to the connected OutStream.
         *
         * @param buffer The bytes to write
         */
        public synchronized void write(byte[] buffer) {
            try {
                for (int i = 0; i < buffer.length; i++) {
                    mmOutStream.write(buffer[i]);
                    try {
                        Thread.sleep(10);
                    } catch (InterruptedException e) {
                        e.printStackTrace();
                    }
                }

                // Share the sent message back to the UI Activity
                mHandler.obtainMessage(MSG_WRITE, -1, -1, buffer)
                        .sendToTarget();
            } catch (IOException e) {
                Log.e(TAG, "Exception during write", e);
            }
        }

        public void cancel() {
            try {
                mmSocket.close();
            } catch (IOException e) {
                Log.e(TAG, "close() of connect socket failed", e);
            }
        }
    }
}
